Re: [Playerstage-users] car-like robots in stage

[Toby Collett <tcollett+player@pl...>]

just checked the code, stage takes it directly from the message
    scmd.a = pcmd->angle;
and uses it as radians.

2009/2/26 Patrick Beeson <pbeeson@...>

> I'm pretty sure it is degrees, and Stage converts this to radians.
> I'll look later when I'm less busy unless someone replies first.
>
> On Wed, Feb 25, 2009 at 12:10 PM, Toby Collett
> <tcollett+player@... <tcollett%2Bplayer@...>> wrote:
> >
> >
> > 2009/2/25 Fred Labrosse <ffl@...>
> >>
> >> On Tuesday 24 February 2009, Patrick Beeson wrote:
> >> > In Player, you can send a PLAYER_POSITION2D_CMD_CAR command through
> the
> >> > position2d interface to Stage.  The vel.pa  of this command is
> assumed
> >> > to be a steering angle (in degrees) of an Ackerman steering vehicle,
> not
> >
> > Is it actually in degrees? if it is thats a bug, should be radians...
> >
> > Toby
> >
> >
>



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Re: [Playerstage-users] PTU46 and Read calls in PULL mode

[Toby Collett <tcollett+player@pl...>]

The code looks fine, unfortunately I havent had access to this hardware for
quite some time now so I can't debug it myself. The best bet would be to add
some logging to the driver to confirm that the data is correct on the driver
side and then trace it up from there...

Sorry I cant be much more help,
Toby

2009/2/7 Nicola Bellotto <nick@...>

> Hi Toby,
>
> Sorry for replying so late. Yes, I tried to clear the fresh flag, but
> without improvements.
> I'm sending here the code I used, and the output generated by setting the
> pan to 0.5,  0,  -0.5 and 0.
>
> Cheers,
>
> Nicola
>
>
> -----------------------------
> CODE
> -----------------------------
>
> #include <libplayerc++/playerc++.h>
> #include <libplayerc++/playerclient.h>
> #include <iostream>
>
> using namespace std;
> using namespace PlayerCc;
>
> int main(int argc, char* argv[]) {
>  PlayerClient client("localhost");
>  PtzProxy pt(&client);
>
>  client.SetDataMode(PLAYER_DATAMODE_PULL);
>  client.SetReplaceRule(true, PLAYER_MSGTYPE_DATA);
>
>  double cpan;
>  cout.precision(3);
>
>  for (;;) {
>    cout << "Insert pan: ";
>    cin >> cpan;
>    pt.SetCam(cpan, 0, 0);
>    cout << "Positioning...\n";
>    cout.flush();
>    sleep(3);   // just wait for the PTU to reach the position...
>    double rpan = 9e99;
>    do {
>      pt.NotFresh();
>      client.Read();
>      if (pt.IsFresh()) {
>        rpan = pt.GetPan();
>        cout << "Pan: " << rpan << endl;
>        cout.flush();
>      }
>    } while (fabs(cpan - rpan) > 0.01);
>    cout << endl;
>  }
>
>  return EXIT_SUCCESS;
> }
>
>
> -----------------------------
> OUTPUT
> -----------------------------
>
> Insert pan: 0.5
> Positioning...
> Pan: 0
> Pan: 0.5
>
> Insert pan: 0
> Positioning...
> Pan: 0.5
> Pan: 0
>
> Insert pan: -0.5
> Positioning...
> Pan: 0
> Pan: -0.5
>
> Insert pan: 0
> Positioning...
> Pan: -0.5
> Pan: 0
>
>
>
>
>
> -------------------------------------------
> Dr Nicola Bellotto
> Active Vision Lab - Robotics Research Group
> Department of Engineering Science
> University of Oxford
> Oxford OX1 3PJ
> United Kingdom
> Tel: +44 (0)1865 283052
> http://www.robots.ox.ac.uk/~nick <http://www.robots.ox.ac.uk/%7Enick>;
> -------------------------------------------
>
>
>
> ------------------------------------------------------------------------------
> Create and Deploy Rich Internet Apps outside the browser with
> Adobe(R)AIR(TM)
> software. With Adobe AIR, Ajax developers can use existing skills and code
> to
> build responsive, highly engaging applications that combine the power of
> local
> resources and data with the reach of the web. Download the Adobe AIR SDK
> and
> Ajax docs to start building applications today-
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Re: [Playerstage-users] Stage crashing on Ubuntu Intrepid

[Toby Collett <tcollett+player@pl...>]

I have created a bug in the tracker and added this info to it

https://sourceforge.net/support/tracker.php?aid=2719807

Toby

2009/2/3 Tully Foote <tfoote@...>

> There have been a couple other posts relating to this and I think I
> finally found a way to make things work on my machine, described below.
> It's a hack but it does let things work.
>
> I found this solution for I discovered that in the 3.0.1 I could start
> Stage w/o a world file and load it using the menu.  It appears to be
> some form of startup/race condition.
>
> The quick solution requires one additional line changed in
> libstage/main.cc  This is not a proper fix but I hope it will get people
> running in the mean time.
> _
> Against the 2.x version _
>
> Index: libstage/main.cc
> ===================================================================
> --- libstage/main.cc    (revision 7126)
> +++ libstage/main.cc    (working copy)
> @@ -50,7 +50,8 @@
>   Stg::Init( &argc, &argv );
>
>   StgWorld* world = usegui ? new StgWorldGui(800, 700, argv[0]) : new
> StgWorld();
> -
> +
> +  world->Update();
>   world->Load( argv[argc-1] );
>
>   while( ! world->TestQuit() )
>
> _
> Against 3.0.1 version of stage_
> --- libstage/main.cc    2008-07-30 11:21:47.000000000 -0700
> +++ ../main.cc    2009-02-02 15:03:25.000000000 -0800
> @@ -58,6 +58,7 @@
>         {
>             const char* worldfilename = argv[optindex];
>             StgWorld* world = ( usegui ? new StgWorldGui( 400, 300,
> worldfilename ) : new StgWorld( worldfilename ) );
> +                        world->UpdateAll();
>             world->Load( worldfilename );
>             loaded_world_file = true;
>         }
>
> Good luck,
> Tully
>
> Tully Foote wrote:
> > I'm running a Dell Inspiron 640m with intel integrated video: lspci
> > ...
> > 00:00.0 Host bridge: Intel Corporation Mobile 945GM/PM/GMS, 943/940GML
> > and 945GT Express Memory Controller Hub (rev 03)
> > 00:02.0 VGA compatible controller: Intel Corporation Mobile 945GM/GMS,
> > 943/940GML Express Integrated Graphics Controller (rev 03)
> > 00:02.1 Display controller: Intel Corporation Mobile 945GM/GMS/GME,
> > 943/940GML Express Integrated Graphics Controller (rev 03)
> > ...
> >
> > I have xserver-xorg-video-intel   Version: 2:2.4.1-1ubuntu10  which
> > lists support for intel i945 video chipset.
> > The library (libGL.so.1 is linked to libGL.so.1.2) which is crashing
> > are both installed by libgl1-mesa-glx
> >
> > I've done some more experiments as well.  I've downloaded and compiled
> > Stage 3.0.1 from the tar ball.  Below is the error I get there.  It
> > looks like a similar problem, which stems from the GL library again.
> > It seems like it's probably specific to my hardware but if anyone has
> > a good suggestion on how to update/switch my drivers that would be
> > appreciated.
> > Thanks,
> > Tully
> >
> > tfoote@...:~/misc/Stage-3.0.1-Source$ gdb ./libstage/stage
> > GNU gdb 6.8-debian
> > Copyright (C) 2008 Free Software Foundation, Inc.
> > License GPLv3+: GNU GPL version 3 or later
> > <http://gnu.org/licenses/gpl.html>;
> > This is free software: you are free to change and redistribute it.
> > There is NO WARRANTY, to the extent permitted by law.  Type "show
> > copying"
> > and "show warranty" for details.
> > This GDB was configured as "i486-linux-gnu"...
> > (gdb) r worlds/simple.world
> > Starting program: /home/tfoote/misc/Stage-3.0.1-Source/libstage/stage
> > worlds/simple.world
> > [Thread debugging using libthread_db enabled]
> > Stage 3.0.1
> > [New Thread 0xb77868e0 (LWP 10462)]
> > [Loading worlds/simple.world][Include pioneer.inc][Include
> > map.inc][Include sick.inc]
> > Program received signal SIGSEGV, Segmentation fault.
> > [Switching to Thread 0xb77868e0 (LWP 10462)]
> > 0xb7e38156 in glGenLists () from /usr/lib/libGL.so.1
> > (gdb) bt full
> > #0  0xb7e38156 in glGenLists () from /usr/lib/libGL.so.1
> > No symbol table info available.
> > #1  0xb7fa6474 in StgModel (this=0x97b2e10, world=0x9788c00,
> > parent=0x0, type=Stg::MODEL_TYPE_PLAIN) at
> > /home/tfoote/misc/Stage-3.0.1-Source/libstage/model.cc:203
> > No locals.
> > #2  0xb7fb7d37 in CreateModel (world=0x9788c00, parent=0x0) at
> > /home/tfoote/misc/Stage-3.0.1-Source/libstage/typetable.cc:7
> > No locals.
> > #3  0xb7fb90c4 in Stg::StgWorld::Load (this=0x9788c00,
> > worldfile_path=0xbfeed5b2 "worlds/simple.world") at
> > /home/tfoote/misc/Stage-3.0.1-Source/libstage/world.cc:281
> >    typestr = 0x9796ac8 "model"
> >    parent = (class Stg::StgModel *) 0x0
> >    parent_entity = 0
> >    mod = (class Stg::StgModel *) 0xb7c5b231
> >    creator = (stg_creator_t) 0xb7fb7cf3 <CreateModel>
> >    entitytable = (GHashTable *) 0x9788478
> >    load_start_time = 18446744073425477849
> >    entity = 2
> >    load_end_time = 13243608709088220728
> >    __FUNCTION__ = "Load"
> > #4  0xb7fbfc32 in Stg::StgWorldGui::Load (this=0x9788c00,
> > filename=0xbfeed5b2 "worlds/simple.world") at
> > /home/tfoote/misc/Stage-3.0.1-Source/libstage/worldgui.cc:221
> >    world_section = 158897112
> >    window_section = -1208480700
> >    width = 1
> >    height = 134520856
> >    title = {static npos = 4294967295, _M_dataplus =
> > {<std::allocator<char>> = {<__gnu_cxx::new_allocator<char>> = {<No
> > data fields>}, <No data fields>}, _M_p = 0x0}}
> > #5  0x08048d16 in main (argc=2, argv=0xbfeebae4) at
> > /home/tfoote/misc/Stage-3.0.1-Source/libstage/main.cc:61
> >    worldfilename = 0xbfeed5b2 "worlds/simple.world"
> >    world = (class Stg::StgWorld *) 0x9788c00
> >    ch = -1
> >    optindex = 1
> >    usegui = true
> >    loaded_world_file = false
> > (gdb)
> >
> > I did notice this in dmesg which I didn't expect:
> > [ 2644.029714] stage[6311]: segfault at c ip b7d4f156 sp bf90332c
> > error 4 in libGL.so.1.2[b7d4e000+5000]
> >
> >
> >
> > Toby Collett wrote:
> >> My upgrade to hardy caused some odd crashes in the middle of opengl
> >> dri code. Upgrading to Intrepid actually fixed these issues for me.
> >> Needless to say I think there have been quite a few changes in opengl
> >> drivers for the last couple of releases, what graphics hardware are
> >> you running on?
> >>
> >> Toby
> >>
> >> 2008/11/4 Brian Gerkey <brian@... <mailto:brian@...>>
> >>
> >>     I should clarify that we (Tully and I) are working with a
> >> slightly old
> >>     version of Stage.
> >>
> >>     Specifically, we're working with the 'stage-ros' branch, which I
> >>     created from trunk on 2008-06-21, r6661.  So it's something of a
> >>     pre-3.0.0 version of Stage.
> >>
> >>     Still, we'd appreciate any insights on this crash; has anyone
> >> seen it
> >>     with Stage 3.0.x?
> >>
> >>     We're trying now with the latest Stage release to see if we can
> >>     reproduce the problem.
> >>
> >>            brian.
> >>
> >>     On Nov 3, 2008, at 8:21 PM, Tully Foote wrote:
> >>
> >>     > Hi,
> >>     > I just upgraded my computer to Intrepid and when I tried to run
> >>     > stage it
> >>     > crashed on startup.  It looks like maybe the GL interface
> >>     changed? Has
> >>     > anyone else seen this problem?
> >>     >
> >>     > Thanks,
> >>     > Tully
> >>     >
> >>     > To reproduce:
> >>     > * Clean download from svn
> >>     > * make and make install
> >>     > * I had to copy the installed directory
> >>     shared/stage/worlds/bitmap to
> >>     > shared/worlds/ otherwise it couldn't find cave.png
> >>     > * $ ./bin/stage share/worlds/simple.world
> >>     > Stage 3.dev
> >>     > [Loading share/worlds/simple.world][Include pioneer.inc][Include
> >>     > map.inc][Include sick.inc]Segmentation fault
> >>     >
> >>     > * gdb ./bin/stage
> >>     > GNU gdb 6.8-debian
> >>     > Copyright (C) 2008 Free Software Foundation, Inc.
> >>     > License GPLv3+: GNU GPL version 3 or later
> >>     > <http://gnu.org/licenses/gpl.html>;
> >>     > This is free software: you are free to change and redistribute it.
> >>     > There is NO WARRANTY, to the extent permitted by law.  Type "show
> >>     > copying"
> >>     > and "show warranty" for details.
> >>     > This GDB was configured as "i486-linux-gnu"...
> >>     > (gdb) r share/worlds/simple.world
> >>     > Starting program:
> >>     /home/tfoote/pkg-ros/3rdparty/stage/stage/bin/stage
> >>     > share/worlds/simple.world
> >>     > [Thread debugging using libthread_db enabled]
> >>     > Stage 3.dev
> >>     > [New Thread 0xb76c1710 (LWP 2321)]
> >>     > [Loading share/worlds/simple.world][Include pioneer.inc][Include
> >>     > map.inc][Include sick.inc]
> >>     > Program received signal SIGSEGV, Segmentation fault.
> >>     > [Switching to Thread 0xb76c1710 (LWP 2321)]
> >>     > 0xb7991326 in glLoadIdentity () from /usr/lib/libGL.so.1
> >>     > (gdb) bt full
> >>     > #0  0xb7991326 in glLoadIdentity () from /usr/lib/libGL.so.1
> >>     > No symbol table info available.
> >>     > #1  0xb7f81427 in Stg::StgCanvas::FixViewport (this=0x8136368,
> >>     W=745,
> >>     > H=418) at canvas.cc:327
> >>     > No locals.
> >>     > #2  0xb7f814a4 in Stg::StgCanvas::resize (this=0x8136368, X=0,
> >> Y=30,
> >>     > W=745, H=418) at canvas.cc:544
> >>     > No locals.
> >>     > #3  0xb7dadb34 in Fl_Group::resize () from /usr/lib/libfltk.so.1.1
> >>     > No symbol table info available.
> >>     > #4  0xb7dea517 in Fl_Window::resize () from
> >> /usr/lib/libfltk.so.1.1
> >>     > No symbol table info available.
> >>     > #5  0xb7f95a79 in Stg::StgWorldGui::Load (this=0x8136000,
> >>     > filename=0xbfdbe5a8 "share/worlds/simple.world")
> >>     >    at /usr/include/FL/Fl_Widget.H:120
> >>     >    flags = <value optimized out>
> >>     >    grid = 3086577328
> >>     >    data = <value optimized out>
> >>     >    follow = 0
> >>     >    quadtree = 0
> >>     >    clock = 135487488
> >>     >    trails = 1
> >>     >    arrows = 3218856216
> >>     >    footprints = <value optimized out>
> >>     > #6  0x08048a7e in main (argc=2, argv=0xbfdbd9b4) at main.cc:54
> >>     >    ch = <value optimized out>
> >>     >    optindex = 0
> >>     >    usegui = true
> >>     >    world = (class Stg::StgWorld *) 0x8136000
> >>     >
> >>     >
> >>     >
> >>
> >>
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[Playerstage-users] Player SVN trunk: new version of globalgoto plugin, huge improvements

[Paul Osmialowski <newchief@ki...>]

Hello all,

I've hacked new version of my globalgoto plugin (vfh replacement for 
cheaper robots). Now it provides also dio interface to indicate that it is 
doing its job. Thanks to this, other drivers or client-side programs can 
query through dio interface if the goal was already achieved. It is 
possible to stop goal approaching by sending velocity command with px, py 
and pa set to zeros.
Also new option was added: enable_forward (set to false by default). If 
set to true, it allows to forward velocity commands to underlying 
position2d interface, otherwise velocity commands are ignored (except that 
stop velocity command can be used to interrupt globalgoto plugin action). 
It was added to help interaction with wavefront driver: Whenever wavefront 
is disabled or its work is done, it keeps on sending velocity stop 
command. As a result no other drivers or client programs can drive given 
robot. This improvements makes it possible.
Download new globalgoto-threaded (to use with recent Player SVN snapshots) 
from here: 
http://king.net.pl/playercontrib/plugins/player2.2/globalgoto-threaded-20090328.tar.gz

Cheers,
Paul

Re: [Playerstage-users] About Sonar and Ir interfaces

[Toby Collett <tcollett+player@pl...>]

the sonar and IR interfaces will be deprecated in some future version of
player and replaced by the ranger interface. I am not sure if this interface
has a FOV value reported but it would be worth having a look.

Toby

2009/3/28 Damiano Vittor <ominobufo81@...>

> Hi, I developed 2 drivers for my bot, that uses an infrared and a sonar
> sensors.
> I noticed that two interfaces there are any reference to sensor fields
> of view! It seems strange to me that no-one felt the need to add them to
> the interfaces so I'm asking, are there any reason not adding them?
>
>
>
>
> ------------------------------------------------------------------------------
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Re: [Playerstage-users] Player and Stage versions

[Toby Collett <tcollett+player@pl...>]

when you start player with a stage config file the stage version will be
printed on the console.

Toby

2009/3/27 anterma <anterma@...>

>
> How can I know what version of Stage I have installed?
>
>
> anterma wrote:
> >
> > Hi
> > I have one simple question. Can I use any version of Stage with any
> > version of Player? For example, can I use Player 2.0.5 with Stage 2.1.1?
> > i'm using Stage 2.0.5, what version of Stage would you recommend me?
> >
> > Thanks,
> >
> > Anterma
> >
>
> --
> View this message in context:
> http://www.nabble.com/Player-and-Stage-versions-tp22701143p22720719.html
> Sent from the playerstage-users mailing list archive at Nabble.com.
>
>
>
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Re: [Playerstage-users] Develloping a new robot

[Toby Collett <tcollett+player@pl...>]

The khepera driver is probably the closest driver to what you want, it is a
relatively simple serial protocol. I would develop your driver as a plugin
as it is much faster to re compile and so on if you are not rebuilding the
whole player tree.



2009/3/26 davidzweig <davidzweig@...>

>
> I've been working on a robot base for the last couple of months.  To keep
> costs down, I've based it around Nikko 1:25 tank, a D-link wired Ethernet
> camera (dcs-910) and a D-link DIR-300 router, running 'openWRT' linux.
>  I've
> developed a microcontroller board based on a AVR mega168 that will read
> values from a sharp IR sensor, control a couple of servos and the motors
> (speed control with back-emf).  The microcontroller board and the router
> communicate over a serial connection.  I want to install player on the
> router to provide a standard interface to the robot, and allow
> teleoperation.  If I had known about the boards produced by pololu, I might
> not have bothered to produce my own.
>
> I don't have any experience with player/stage, the project deadline is
> looming, and my supervisor is unhelpful.  I have some C programming skills,
> and previously studied some python.  From the player/stage website, I
> understand I need to write drivers for the player server.  These drivers
> will basically just send commands down the serial line, where the mc will
> carry out the commands.  I'm looking for basic movement commands only at
> this stage.
>
> My questions are:
>
> Are there any projects or existing drivers that could readily adapted for
> my
> robot?
> Is there a way to integrate the video stream from the IP cam into the
> player
> interface?
> Are there any particular issues with installing player on the router?
>
> Any help greatly appreciated!
> --
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>
>
>
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Re: [Playerstage-users] Problem installing stage

[Toby Collett <tcollett+player@pl...>]

Were all the GUI dependencies found when you configured stage? have a look
at config.log.

Toby

2009/3/26 richiew <rwon044@...>

>
> Hi Guys,
>
> I have hit the same wall as shen85 with regards to stage not working. I'm
> running stage 2.1.1, and player 2.1.2.
>
> When I try to run "player /usr/local/share/stage/worlds/everything.cfg (or
> any other cfg file for that matter), I get this message, and nothing else.
> (I have to Ctrl-Z to break after this)
>
>
>  Stage driver creating 1 device
>   6665.31.0 is a Stage world [Loading
> /usr/local/share/stage/worlds/everything.world][Include
> pioneer.inc][Include
> roomba.inc][Include map.inc][Include sick.inc]
>
> (no attempts to create the other devices are made)
>
>
> Yes I have checked for the gui_disable flag, and yes its 0. What else am I
> doing wrong here? Sorry if I may sound frustrated, but this is the 4-5th
> time I'm reinstalling player/stage and I just don't get what I'm doing
> wrong.
>
> Cheers and thanks
> Richie
>
>
> Julio M. Vega Perez wrote:
> >
> >   Hi again,
> >
> >   yesterday I wrote here and I told you that maybe you have to comment
> > this line "gui_disable 1" on "simple.world" file. Have you try it?
> >
> >   Julio
> >
> > --
> > Julio Vega | http://robotica-urjc.es/jmvega
> >
> >
> >
> > shen85 wrote:
> >> Hi,
> >>
> >> What happened was when I run $player simple.cfg, there was supposed to
> be
> >> a
> >> WORLD that will come out.
> >>
> >> But in the terminal, all I see is
> >>
> >> Registering driver
> >> Player v.2.1.2
> >>
> >> * Part of the Player/Stage/Gazebo Project
> >> [http://playerstage.sourceforge.net].
> >> * Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew
> Howard,
> >> * Nate Koenig, and contributors. Released under the GNU General Public
> >> License.
> >> * Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and
> >> you
> >> * are welcome to redistribute it under certain conditions; see COPYING
> >> * for details.
> >>
> >> invoking player_driver_init()...
> >>  Stage driver plugin init
> >>
> >>  ** Stage plugin v2.1.1 **
> >>  * Part of the Player/Stage Project [http://playerstage.sourceforge.net
> ]
> >>  * Copyright 2000-2006 Richard Vaughan, Andrew Howard, Brian Gerkey
> >>  * and contributors. Released under the GNU General Public License v2.
> >> success
> >>   Stage driver creating 1 device
> >>    6665.31.0 is a Stage world [Loading ./simple.world][Include
> >> pioneer.inc][Include map.inc][Include sick.inc]
> >>
> >> and no WORLD appears. It just hangs there.
> >>
> >
> >
> >
> >
> ------------------------------------------------------------------------------
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> > -Strategies to boost innovation and cut costs with open source
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> > -Receive a $600 discount off the registration fee with the source code:
> > SFAD
> > http://p.sf.net/sfu/XcvMzF8H
> > _______________________________________________
> > Playerstage-users mailing list
> > Playerstage-users@...
> > https://lists.sourceforge.net/lists/listinfo/playerstage-users
> >
> >
>
> --
> View this message in context:
> http://www.nabble.com/Problem-installing-stage-tp22283413p22714884.html
> Sent from the playerstage-users mailing list archive at Nabble.com.
>
>
>
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